# Fall 2015 RoSco: Field of Vision Experiment

#### By Will McKinney (Project Manager/Electronics and Controls)

To fully simulate a soldier crawling through a barbed wire course we have to think about everything that a soldier might experience. We have to design a rover that will avoid obstacles, match the speed of a soldier, and even see what the soldier is seeing in a crawling position. We spent time researching the field of vision when a soldier is crawling and we didn’t find a lot of information on it. As a result of this we thought it would be a good idea to perform an experiment to see what our field of vision is when we are crawling.

To do this we needed to find the field of vision of a HTC Evo phone. This was done by measuring a distance away from a wall. Then marking all the edges of the frame on the wall with a marker. From this we can figure out the horizontal and vertical angles that this camera takes in a photo. We found this to be 28.5 degrees to the left of center and 28.5 degrees to the right of center. Also it had a vertical angle of 20 degrees above center and 20 degrees below center. Below is a table of the camera’s field of vision.

Direction | Angles (In degrees) |

Left | 28.5 |

Right | 28.5 |

Up | 20.2 |

Down | 20.2 |

Figure 1: Field of Vision of a camera

Next we needed to find the field of vision of a human crawling. To do this we got into crawling position parallel to the wall. We measured the distance from our eye to the wall while looking forward and marked that position on the wall. Next we turned our head as far as it could go and focused on the farthest point we could see along the wall behind us. This gave us enough information to calculate the horizontal field of vision and found it to be 161 degrees left of center and 161 degrees right of center. Below is the horizontal angles that a person can see while crawling.

Horizontal eye angles (in crawling position)

Direction | Angles (In degrees) |

Left | 161.9 |

Right | 161.9 |

We were able to do the same type of experiment for the vertical field of vision as well. In crawling position we looked ahead at the wall and measured the distance from our eye to the wall. Next we looked up along the wall and focused on the highest point we could see. This gave us enough information to calculate the highest angle we could look up and found it to be 76 degrees. Our field of visions were very similar. Below is a picture of the process we took to find the vertical field of vision.

Figure 1: Estimating the Highest point we could see in crawling position

Vertical eye angles (in crawling position) turning head

Direction | Angles (In degrees) |

Up | 75.74 |

Down | 90 |

Total | 165.74 |

Above is the vertical angles a human can see when crawling.